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电子学报  2014 

强跟踪自适应平方根容积卡尔曼滤波算法

DOI: 10.3969/j.issn.0372-2112.2014.12.009, PP. 2394-2400

Keywords: 强跟踪滤波器,平方根容积卡尔曼滤波,自适应滤波,鲁棒性

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Abstract:

针对强跟踪滤波器(STF)的理论局限性及不良测量导致的滤波性能下降问题,提出了一种强跟踪自适应平方根容积卡尔曼滤波(SRCKF)算法.利用新息协方差匹配原理,建立对不良测量具有鲁棒性的自适应SRCKF.基于STF的理论框架,采用自适应SRCKF代替扩展卡尔曼滤波构建强跟踪自适应SRCKF.该算法兼具STF与自适应SRCKF的优点,在系统同时存在模型不确定性及不良测量时具有良好的滤波性能.仿真验证了所建算法的有效性.

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